CN107342599A - The automatic diagnosis of stability of control system and parameter regulation means in a kind of electromechanical transient simulation - Google Patents
The automatic diagnosis of stability of control system and parameter regulation means in a kind of electromechanical transient simulation Download PDFInfo
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- CN107342599A CN107342599A CN201710588300.XA CN201710588300A CN107342599A CN 107342599 A CN107342599 A CN 107342599A CN 201710588300 A CN201710588300 A CN 201710588300A CN 107342599 A CN107342599 A CN 107342599A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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Abstract
The invention discloses a kind of automatic diagnosis of stability of control system in electromechanical transient simulation and parameter regulation means, belong to Simulating technique in Electric Power System field.More than the continuous step number of given number of iterations when the present invention is restrained by counting each step iteration, either by identifying, there is weakly damped oscillation or increasing oscillation in control system output variable in emulation, judges whether diagnosis starts stability of control system automatically；The output variable iterative process information of control system in each step iteration, or diagnose the mean square deviation size for the output variable for starting period controlling system automatically from fault clearance to stability of control system, it is determined that leading unstable control system and its generator, by eigenvalue analysis, the damping specific sensitivity for dominating unstable control systematic parameter is calculated；According to damping ratio sensitivity information adjusting parameter.The present invention can improve Electrical-Machanical Transient Simulation of Power System confidence level, contribute to power system security stability analysis and controller design.
Description
Technical field
The invention belongs to technical field of power system computation, and more precisely, the present invention relates to a kind of electromechanical transient simulation
Middle stability of control system diagnoses automatically and parameter regulation means.
Background technology
Power system electromechanics transient state time-domain-simulation is the basis of electrical power system transient and dynamic security stability analysis and control.
The model of excitation, speed governing, PSS dispatch control systems and the reasonability of parameter employed in emulation are simulation result correctness again
Key.The automatic diagnosis and adjustment on significantly affecting stability of control system parameter are realized in simulations, can improve electric power
System electromechanical transient simulation confidence level, contributes to power system security stability analysis and controller design again.
The stability of control system, expression system can properly keep predetermined working condition, be resistant to various unfavorable factors
Influence.In Linear Time-Invariant System, many stability criterias, as nyquist stability criterion and routh stability criterion all provide
Method that is extremely practical and very easily differentiating stability.Their basis is all to utilize characteristic root technical Analysis equalization point
Stability, for time-varying system and nonlinear system, the problem of analyzing stability more complex, above-mentioned various stability criterions
Can not directly it apply.Actual power system is typical nonlinear time_varying system, is described, passed through using subordination principle
Numerical integrating asks for disturbed track, is got parms trace sensitivity based on the local derviation for seeking dynamic integral equation parameter, and then
Influence of the analysis and Control systematic parameter to Non-Self-Governing nonlinear system stability.
With reference to equalization point characteristic root technology and numerical integration, document《The analytic estimation of track characteristic root and its error analysis》
(Automation of Electric Systems, 2008,32 (19):10-14) propose equalization point characteristic root technology expanding to the disturbed track of large disturbances
Cross sections.After being integrated to any multimachine model, the starting point that integrate along its disturbed track in each step, by integrating what is obtained
Virtual condition solves after Non-Self-Governing nonlinear system model is linearized again and obtains track cut surface character root, special with track section
Root is levied to investigate the influence of Non-Self-Governing and non-linear factor to the stability of a system, the solution of more Correlation oscillation mode can be obtained
Analyse time serial message.
In addition, power system electromechanics transient state time-domain-simulation uses numerical integration method step-length Integration Solving one by one, during
It is unreasonable due to model structure or parameter, computational convergence can be caused to be deteriorated, therefore, the information during iterative
Available for the stability for assessing control system.
The content of the invention
The present invention seeks to：Stability of control system in a kind of electromechanical transient simulation is provided to diagnose and parameter adjustment side automatically
Method.This method realizes the automatic diagnosis and adjustment on significantly affecting stability of control system parameter in simulations, improves power train
System electromechanical transient simulation confidence level, reference is provided for CCU design.
The present invention principle be：Using the cross sections that equalization point characteristic root technology is expanded to the disturbed track of large disturbances
Thought, with reference to the output variable information of the affiliated control system of generator of each step-length in power system electromechanics transient state time-domain-simulation and
Damping ratio sensitivity index, find out and unstable control system and parameter are dominated in emulation, and it is adjusted.
Specifically, the present invention is realized using following technical scheme, is comprised the following steps：
1) power system electromechanics transient state time-domain-simulation was proceeded by from 0 second, after fault clearance, is started in each simulation step length
Judge whether to meet the entry condition that the affiliated stability of control system of generator diagnoses automatically, enter step 2) if meeting, it is no
Then continue the power system electromechanics transient state time-domain-simulation of next step-length, the judgement for duplicate step of laying equal stress on, if reaching the imitative of setting
The true end time is still introduced into step 2), then into step 6)；
2) according to the output variable information of the affiliated control system of generator of each step-length in emulation, the shakiness in screening emulation
Determine control system, it is determined that dominating unstable control system and its affiliated generator, this is dominated into unstable control system and remembered
For C, the affiliated generators of C are designated as G, and T1 will be designated as at the time of determining and dominate unstable control system, the record T1 moment
System mode, into step 3)；
3) by Thevenin's equivalence method, seen using generator G as port into power transmission network, be hair by the system equivalent at T1 moment
The one machine infinity bus system S that motor G is connected by equivalent impedance with infinite busbar, into step 4)；
4) it is according to having obtained in the generator G at T1 moment and its state variable value of control system, unit is infinite
Big system S linearisations, and eigenvalue analysis is carried out to one machine infinity bus system S；According to analysis obtain characteristic root, damping when
Frequency of oscillation, it is control oscillation modes to select the maximum oscillation mode of oscillation energy, and the control oscillation modes are designated as into M, is calculated
Damping specific sensitivity of all parameters of control system C under pattern M, into step 5)；
5) damping specific sensitivity of all parameters of control system C under pattern M is compared, it is determined that damping specific sensitivity absolute value
The maximum is the key parameter to be adjusted, and the key parameter is designated as into α；Ginseng is determined according to the damping specific sensitivity of parameter alpha is positive and negative
Number adjustment direction, damping specific sensitivity are more than zero increase parameter, and damping specific sensitivity is less than zero reduction parameter；In parameter alpha
According to the damping ratio ξ that pattern M is current on the basis of initial valueAt presentNeed to adjust the damping ratio ξ reached with settingSetting, calculating parameter α tune
Whole amount,For the damping specific sensitivity of parameter alpha, restart to carry out electromechanical transient time-domain-simulation, enter
Enter step 1)；
6) in the simulation time of setting, the whole network control system has higher stability, terminates this method.
Above-mentioned technical proposal is further characterized by, and the affiliated control system of the generator in the step 1), is limited to send out
Speed regulator, prime mover, excitation system and PSS belonging to motor.
Above-mentioned technical proposal is further characterized by, and the entry condition in the step 1) has two, respectively starts
Condition one and entry condition two, the two meets that one starts；
Entry condition one：Judge whether iterations during each simulation step length iteration convergence exceedes iterations N, if even
The iterations of continuous L steps is above N, then meets entry condition one, wherein, N and L are preset value；
Entry condition two：Judge emulation in the affiliated control system of generator output variable from the fault clearance moment till now
Waveform cycle of oscillation and oscillation amplitude, such as there is weakly damped oscillation or increasing oscillation situation, then meet entry condition two.
Above-mentioned technical proposal is further characterized by, in the step 2), the unstable control system in screening emulation,
It is determined that dominating unstable control system and its affiliated generator, carried out by following two methods：
When diagnosis is started the affiliated stability of control system of generator by entry condition one automatically, using method one, otherwise
Using method two；
Method one：The output variable of the affiliated control system of generator is when every step iteration is restrained and previous in computer sim- ulation
The difference of secondary iterative calculation, if difference is more than the threshold value of setting, it is influence system to select the maximum control system of difference
Unstable leading factor, while determine the generator belonging to control system for the unstable leading generator of influence system；
Method two：According to ripple of the output variable of the affiliated control system of generator in emulation from the fault clearance moment till now
The cycle of oscillation of shape and oscillation amplitude, the variable with weakly damped oscillation or increasing oscillation characteristic is filtered out, further selection
The maximum control system of mean square deviation is the unstable leading factor of influence system in these variables, while determines control system institute
The generator of category is the unstable leading generator of influence system.
Above-mentioned technical proposal is further characterized by, and all parameters of calculating control system C are in the mould in the step 4)
The method of damping specific sensitivity under formula M is as follows：
Control system C each parameter is represented with α, the method for calculating α damping specific sensitivity is to calculate to treat according to formula (1)
Investigate the eigenvalue sensitivity of parameter alphaAccording to formula (2) calculating parameter α damping specific sensitivityWherein, A is system
State matrix, characteristic root λ=σ ± j ω, σ and ω are respectively the real and imaginary parts of characteristic root, and v and u are corresponding left and right spy
Sign vector, damping ratioDecay of the oscillation mode with the number of oscillation is represented,
Beneficial effects of the present invention are as follows：The generator of the present invention each step-length from power system electromechanics transient state time-domain-simulation
The output variable information capture wild effect of affiliated control system, it is determined that leading unstable control system and its generator,
The influence of dynamic process of electrical power system is counted；Thevenin's equivalence one machine infinity bus system using the generator as port is carried out special
Root analysis is levied, the damping specific sensitivity of leading unstable control systematic parameter is calculated, is adjusted and joined according to damping ratio sensitivity information
Number, all characteristic roots can not be asked for multi-computer system progress eigenvalue analysis by avoiding, or even can omit main unstable cover half
The problem of formula, damping ratio sensitivity index then can more intuitively reflect influence of the parameter to the stability of a system.Generally speaking, it is of the invention
With reference to the output variable information of the affiliated control system of generator of each step-length and damping in power system electromechanics transient state time-domain-simulation
Specific sensitivity index, it can accurately find out and unstable control system and parameter are dominated in emulation, realize stability of control system
Automatic diagnosis and parameter adjustment, can improve Electrical-Machanical Transient Simulation of Power System confidence level, contribute to power system security steady again
Setting analysis and controller design.
Brief description of the drawings
Fig. 1 is the flow chart of the inventive method.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and with reference to example.
Step 1 describes in Fig. 1, power system electromechanics transient state time-domain-simulation is proceeded by from 0 second, in fault clearance
Afterwards, start each simulation step length judge whether to meet the affiliated control system of generator (speed regulator, prime mover, excitation system and
PSS) the entry condition that stability diagnoses automatically.The entry condition is two：
Entry condition one, judges whether iterations during each simulation step length iteration convergence exceedes iterations N, if even
The iterations of continuous L steps is above N, then meets entry condition one, wherein, N and L are preset value.
Entry condition two, judge emulation in the affiliated control system of generator output variable from the fault clearance moment till now
Waveform cycle of oscillation and oscillation amplitude whether meet requirement set in advance, that is, judge whether to occur weakly damped oscillation or
Increasing oscillation situation, such as occur, then meet entry condition two.
Such as meet second entry condition one or entry condition enter step 2), otherwise continue the power system of next step-length
Electromechanical transient time-domain-simulation, the judgement for duplicate step of laying equal stress on, if the emulation end time for reaching setting be still introduced into step 2,
Then enter step 6；
Step 2 describes in Fig. 1, is believed according to the output variable of the affiliated control system of the generator of each step-length in emulation
Breath, the unstable control system in screening emulation, it is determined that dominating unstable control system and its affiliated generator.It will determine to lead
T1 is designated as at the time of leading unstable control system, the system mode at T1 moment is recorded, into step 3.
Unstable control system in screening emulation simultaneously determines leading unstable control system and its affiliated generator
Method has 2 two kinds of method one and method.Started when the affiliated stability of control system of generator diagnoses automatically by entry condition one
When, using method one, otherwise using method two.
Method one, the output variable of the affiliated control system of generator is when every step iteration is restrained and previous in computer sim- ulation
The difference DELT of secondary iterative calculation, if difference DELT is more than the threshold value of setting, select the maximum control system C of difference for
The unstable leading factor of influence system, while determine that the generator G belonging to control system C is that influence system is unstable and dominated
Generator；
Method two, according to ripple of the output variable of the affiliated control system of generator in emulation from the fault clearance moment till now
The cycle of oscillation of shape and oscillation amplitude, the variable with weakly damped oscillation or increasing oscillation characteristic is filtered out, further selection
The maximum control system C of mean square deviation is the unstable leading factor of influence system in these variables, while determines control system C
Affiliated generator G is the unstable leading generator of influence system.
Step 3 describes in Fig. 1, by Thevenin's equivalence method, using generator G as port, is seen into power transmission network, by T1
The system equivalent at moment is the one machine infinity bus system S that generator G is connected by equivalent impedance with infinite busbar, into step
Rapid 4.
Step 4 describes in Fig. 1, according to the generator G and its control system calculated at the T1 moment
State variable value, one machine infinity bus system S is linearized, and eigenvalue analysis is carried out to one machine infinity bus system S.According to calculating
Obtained characteristic root, damping ratio, frequency of oscillation, it be control oscillation modes to select the maximum oscillation mode M of oscillation energy, calculates and controls
Damping specific sensitivity of all parameters of system C processed under pattern M, into step 5.
Control system C each parameter is represented with α, the method for calculating α damping specific sensitivity is to be counted according to formula (1)
Calculate the eigenvalue sensitivity of parameter alpha to be investigatedAccording to the damping specific sensitivity of formula (2) calculating control system parameter alphaWherein, A is the state matrix of system, and characteristic root λ=σ ± j ω, σ and ω are respectively the real and imaginary parts of characteristic root, v and u
For corresponding left and right characteristic vector, damping ratioDecay of the oscillation mode with the number of oscillation is represented,
Step 5 describes in Fig. 1, compares damping specific sensitivity of all parameters of control system C under pattern M, it is determined that
It is the key parameter to be adjusted to damp specific sensitivity maximum absolute value person, and the key parameter is designated as into α, continued according to parameter alpha
The positive and negative determination parameter adjustment direction of specific sensitivity is damped, damping specific sensitivity is more than zero, then increases parameter, and damping specific sensitivity is small
In zero, then reduce parameter.According to the damping ratio ξ that pattern M is current on the basis of parameter alpha initial valueAt presentNeed to adjust what is reached with setting
Damping ratio ξSetting, calculating parameter α adjustment amount,Restart to carry out electromechanical transient time-domain-simulation, into step
Rapid 1.
Step 6 describes in Fig. 1, and in the simulation time of setting, the whole network control system has higher stability, knot
Beam this method.
Although the present invention is disclosed as above with preferred embodiment, embodiment is not for limiting the present invention's.Not
In the spirit and scope for departing from the present invention, any equivalence changes done or retouching, the protection domain of the present invention is also belonged to.Cause
This protection scope of the present invention should be using the content that claims hereof is defined as standard.
Claims (5)
1. the automatic diagnosis of stability of control system and parameter regulation means in a kind of electromechanical transient simulation, it is characterised in that including
Following steps：
1) power system electromechanics transient state time-domain-simulation was proceeded by from 0 second, after fault clearance, starts to judge in each simulation step length
Whether meet the entry condition that the affiliated stability of control system of generator diagnoses automatically, as meet if enter step 2), otherwise after
Continue the power system electromechanics transient state time-domain-simulation of next step-length, the judgement for duplicate step of laying equal stress on, if reaching the emulation knot of setting
The beam time is still introduced into step 2), then into step 6)；
2) according to the output variable information of the affiliated control system of generator of each step-length in emulation, the unstable control in screening emulation
System processed, it is determined that dominating unstable control system and its affiliated generator, this is dominated into unstable control system and is designated as C,
The affiliated generators of C are designated as G, and T1 will be designated as at the time of determining and dominate unstable control system, the system for recording the T1 moment
State, into step 3)；
3) by Thevenin's equivalence method, seen using generator G as port into power transmission network, be generator by the system equivalent at T1 moment
The one machine infinity bus system S that G is connected by equivalent impedance with infinite busbar, into step 4)；
4) according to having obtained in the generator G at T1 moment and its state variable value of control system, by Infinite bus power system system
The S that unites is linearized, and carries out eigenvalue analysis to one machine infinity bus system S；According to analysis obtain characteristic root, damping when vibrate
Frequency, it is control oscillation modes to select the maximum oscillation mode of oscillation energy, and the control oscillation modes are designated as into M, calculate control
Damping specific sensitivity of all parameters of system C under pattern M, into step 5)；
5) damping specific sensitivity of all parameters of control system C under pattern M is compared, it is determined that damping specific sensitivity maximum absolute value
Person is the key parameter to be adjusted, and the key parameter is designated as into α；Determine that parameter is adjusted according to the damping specific sensitivity of parameter alpha is positive and negative
Perfect square is to damping specific sensitivity is more than zero increase parameter, and damping specific sensitivity is less than zero reduction parameter；In parameter alpha initial value
On the basis of according to damping ratio ξ current pattern MAt presentNeed to adjust the damping ratio ξ reached with settingSetting, calculating parameter α adjustment
Amount, For the damping specific sensitivity of parameter alpha, restart to carry out electromechanical transient time-domain-simulation, into step
It is rapid 1)；
6) in the simulation time of setting, the whole network control system has higher stability, terminates this method.
2. the automatic diagnosis of stability of control system and parameter regulation means in electromechanical transient simulation according to claim 1,
Characterized in that, the affiliated control system of generator in the step 1), is limited to the speed regulator belonging to generator, prime mover, encourages
Magnetic system and PSS.
3. the automatic diagnosis of stability of control system and parameter regulation means in electromechanical transient simulation according to claim 2,
Characterized in that, the entry condition in the step 1) has two, respectively entry condition one and entry condition two, the two satisfaction
One starts；
Entry condition one：Judge whether iterations during each simulation step length iteration convergence exceedes iterations N, if continuous L
The iterations of step is above N, then meets entry condition one, wherein, N and L are preset value；
Entry condition two：Judge ripple of the output variable of the affiliated control system of generator in emulation from the fault clearance moment till now
The cycle of oscillation of shape and oscillation amplitude, such as there is weakly damped oscillation or increasing oscillation situation, then meet entry condition two.
4. the automatic diagnosis of stability of control system and parameter regulation means in electromechanical transient simulation according to claim 3,
Characterized in that, in the step 2), the unstable control system in screening emulation, it is determined that leading unstable control system and
Its affiliated generator, is carried out by following two methods：
When diagnosis is started the affiliated stability of control system of generator by entry condition one automatically, using method one, otherwise use
Method two；
Method one：The output variable of the affiliated control system of generator preceding changes when every step iteration is restrained and once in computer sim- ulation
The difference that generation calculates, if difference is more than the threshold value of setting, select the maximum control system of difference unstable for influence system
Fixed leading factor, while determine the generator belonging to control system for the unstable leading generator of influence system；
Method two：According to waveform of the output variable of the affiliated control system of generator in emulation from the fault clearance moment till now
Cycle of oscillation and oscillation amplitude, the variable with weakly damped oscillation or increasing oscillation characteristic is filtered out, further selects these
The maximum control system of mean square deviation is the unstable leading factor of influence system in variable, while is determined belonging to control system
Generator is the unstable leading generator of influence system.
5. the automatic diagnosis of stability of control system and parameter regulation means in electromechanical transient simulation according to claim 1,
Characterized in that, the method for damping specific sensitivity of all parameters of calculating control system C under pattern M is such as in the step 4)
Under：
Control system C each parameter is represented with α, the method for calculating α damping specific sensitivity is waited to investigate to calculate according to formula (1)
The eigenvalue sensitivity of parameter alphaAccording to formula (2) calculating parameter α damping specific sensitivityWherein, A is the shape of system
State matrix, characteristic root λ=σ ± j ω, σ and ω are respectively the real and imaginary parts of characteristic root, v and u be corresponding left and right feature to
Amount, damping ratioDecay of the oscillation mode with the number of oscillation is represented,
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| US4926105A (en) * | 1987-02-13 | 1990-05-15 | Mischenko Vladislav A | Method of induction motor control and electric drive realizing this method |
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| CN108448569A (en) * | 2018-03-14 | 2018-08-24 | 国电南瑞科技股份有限公司 | A kind of constringent identification of bulk power grid electromechanical transient simulation numerical value and improvement method |
| CN108448569B (en) * | 2018-03-14 | 2021-06-01 | 国电南瑞科技股份有限公司 | Method for identifying and improving electromechanical transient simulation numerical convergence of large power grid |
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